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Abstract: This paper presents the rst randomized approach to kinodynamic planning (also known as trajectory planning, or trajectory design). The task is to determine control inputs to drive a robot from an initial con- guration and velocity to a goal con guration and velocity while obeying physically-based dynamical models and avoiding obstacles in the robot's environment. We consider generic systems that express the nonlinear dynamics of a robot in terms of the robot's high-dimensional con guration... (Update)
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BibTeX entry: (Update)
S. M. LaValle and J. J. Ku ner. Randomized kinodynamic planning. In Proc. IEEE Int'l Conf. on Robotics and Automation, 1999. To appear. http://citeseer.ist.psu.edu/lavalle99randomized.html More
@misc{ lavalle99randomized,
author = "S. LaValle and J. Ku",
title = "Randomized kinodynamic planning",
text = "S. M. LaValle and J. J. Ku ner. Randomized kinodynamic planning. In Proc.
IEEE Int'l Conf. on Robotics and Automation, 1999. To appear.",
year = "1999",
url = "citeseer.ist.psu.edu/lavalle99randomized.html" }
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